Endoscope Instrumentation Drive System

ABSTRACT

An instrument drive system for advancing, controlling, and removing an instrument from an endoscope assembly. The instrument drive system comprises two drive wheels, a working channel, a body, and a drive gap. The two drive wheels comprise a first drive wheel, and a second drive wheel. The instrument drive system is configured to receive a portion of the instrument in the working channel, direct a portion of the instrument between the first drive wheel and the second drive wheel, drive the instrument through an instrument channel of the endoscope assembly, and selectively slow or reverse turning of the two drive wheels.

CROSS-REFERENCE TO RELATED APPLICATIONS

Not applicable.

STATEMENT REGARDING FEDERALLY SPONSORED RESEARCH OR DEVELOPMENT (IFAPPLICABLE)

Not applicable.

REFERENCE TO SEQUENCE LISTING, A TABLE, OR A COMPUTER PROGRAM LISTINGCOMPACT DISC APPENDIX (IF APPLICABLE)

Not applicable.

BACKGROUND OF THE INVENTION

Prior art known to the Applicant includes US20080146875A1 andUS20060161043A1.

A typical endoscopic procedure frequently requires multiple deploymentsof an instrument such as a catheter/device. Currently this is performedmanually and has been the situation for decades and has not evolvedsince the origination of the modern fiber optic endoscope. Each completeinsertion can take 7 or more movements.

There is only a rudimentary system for letting the operator know whenthe catheter tip is getting ready to exit the scope on deployment(contrast markings). This is mostly done by feel/experience and manyoperators slow the catheter advance speed dramatically as they sense itgetting ready to exit the scope. Compounded over many procedures per dayand many deployments per case, this represents (1) a considerable lostof time, (2) an increased risk for repetitive use injuries (a phenomenonthat is gaining more attention as we seek to improve ergonomics, (3)during the considerable time it takes to deploy the catheter, polyps orother legions of interest are often “lost” due to the shifting effluentor peristaltic waves and must be relocated adding further time; and (4)to add to “a” unnecessary extended anesthesia time that may pose patientsafety issues.

BRIEF SUMMARY OF THE INVENTION

An instrument drive system for advancing, controlling, and removing aninstrument from an endoscope assembly. Said instrument drive systemcomprises two drive wheels, a working channel, a body, and a drive gap.Said two drive wheels comprise a first drive wheel, and a second drivewheel. Said instrument drive system is configured to receive a portionof said instrument in said working channel, direct a portion of saidinstrument between said first drive wheel and said second drive wheel,drive said instrument through an instrument channel of said endoscopeassembly, and selectively slow or reverse turning of said two drivewheels.

BRIEF DESCRIPTION OF THE SEVERAL VIEWS OF THE DRAWING

FIG. 1 illustrates a perspective view of an endoscope assembly 104 withan instrument drive system 102 and an instrument 106.

FIG. 2 illustrates a cutaway perspective view of said instrument drivesystem 102.

FIGS. 3A, 3B, and 3C illustrate perspective views and a block diagram ofsaid instrument drive system 102.

FIG. 4 illustrates a perspective overview of said instrument 106 with aplurality of optical signatures 402.

FIG. 5 illustrates a perspective overview of said endoscope assembly104, said instrument drive system 102 and said instrument 106.

DETAILED DESCRIPTION OF THE INVENTION

The following description is presented to enable any person skilled inthe art to make and use the invention as claimed and is provided in thecontext of the particular examples discussed below, variations of whichwill be readily apparent to those skilled in the art. In the interest ofclarity, not all features of an actual implementation are described inthis specification. It will be appreciated that in the development ofany such actual implementation (as in any development project), designdecisions must be made to achieve the designers' specific goals (e.g.,compliance with system- and business-related constraints), and thatthese goals will vary from one implementation to another. It will alsobe appreciated that such development effort might be complex andtime-consuming, but would nevertheless be a routine undertaking forthose of ordinary skill in the field of the appropriate art having thebenefit of this disclosure. Accordingly, the claims appended hereto arenot intended to be limited by the disclosed embodiments, but are to beaccorded their widest scope consistent with the principles and featuresdisclosed herein.

FIG. 1 illustrates a perspective view of an endoscope assembly 104 withan instrument drive system 102 and an instrument 106.

In one embodiment, said instrument drive system 102 can be adapted forfeeding said instrument 106 into an instrument channel 108.

As is known in the art, said endoscope assembly 104 can comprise aninputs-line 110 with an inputs-controls 112 which can provide gasses,fluids such as water, optical fiber and/or suction, according to theneeds at hand. Said endoscope assembly 104 can comprise a deflectioncontrol 114, a flexible shaft 116 having a distal end 118, and anoptical system 120.

In one embodiment, said instrument 106 can comprise cameras, catheters,snare, forceps, or similar instruments as used in the medical industry,as is known in the art. For discussion purposes, it is noted that saidinstrument drive system 102 can be adapted to drive one or moredifferent instruments.

Said optical system 120 can comprise a digital output to a monitor or anoptical eye piece.

Said instrument channel 108 can comprise a channel for inserting saidinstrument 106 into and through said flexible shaft 116.

FIG. 2 illustrates a cutaway perspective view of said instrument drivesystem 102.

Said instrument 106 can comprise a first instrument 202 having a distalinstrument 204, and a shaft 206.

Said instrument drive system 102 can comprise two drive wheels 208(which comprise a first drive wheel 208 a, and a second drive wheel 208b), a working channel 210, an optical sensor 221, a body 212, and adrive gap 214.

In one embodiment, said working channel 210 can receive and release aportion of said instrument 106.

In one embodiment, said instrument drive system 102 can comprise afemale locking coupling 216 for mounting to a male locking coupling 218of said instrument channel 108.

In one embodiment, said female locking coupling 216 can comprise a portgasket 219 that can form a hermetic seal between said female lockingcoupling 216 and said male locking coupling 218 of said instrumentchannel 108.

In one embodiment, said female locking coupling 216 can comprise a shaftgasket 220 that can form a hermetic seal between said female lockingcoupling 216 and said shaft 206.

FIGS. 3A, 3B, and 3C illustrate perspective views and a block diagram ofsaid instrument drive system 102.

Said instrument drive system 102 can comprise a drive wheels assembly314. In one embodiment, said drive wheels assembly 314 can beremoveable, rechargeable and adjustable, as discussed herein. In oneembodiment, said drive wheels assembly 314 can be located inside of saidbody 212 and under a cover 326. In one embodiment, said cover 326 can beclear to monitor the status of said shaft 206, said two drive wheels208, said working channel 210, and said drive gap 214. In oneembodiment, said cover 326 can be removeable to address any issueswithin said body 212.

In one embodiment, said drive wheels assembly 314 can comprise said twodrive wheels 208, an adjustable tensioner 302 to allow for fine tuningof instrumentation feed speed, and a clutch-brake assembly 304 which canallow for decoupling of a motor drive 306 and/or a brake 308. Saidinstrument drive system 102 can further comprise a battery 312 foroperating said two drive wheels 208, one or more direction buttons 316(which can comprise a forward direction button 316 a and a reversedirection button 316 b). said one or more direction buttons 316 can beused to switch the polarity of said motor drive 306 forinsertion/removal of said instrument 106.

In one embodiment, said instrument drive system 102 can comprise acontrol knob 329 rotatably mounted to said body 212. Said control knob329 can be used to switch the polarity of said motor drive 306 forinsertion/removal of said instrument 106 by rotating said control knob329 clockwise and counterclockwise with respect to a control axis 331.Said control knob 329 can further control the desired speed ofinsertion/removal of said instrument 106. In one embodiment, the speedof insertion/removal can be linearly or non-linearly related to theangle of rotation of said control knob 329.

In one embodiment, said drive gap 214 can be adjustable to one or morewidths 310 to accommodate different diameters for said instrument 106.

Said instrument drive system 102 can further comprise a battery levelmonitor 318 and a display/indicator light 320. Thus, said instrumentdrive system 102 can be configured to monitor the status of said battery312, and indicate a healthy battery with a first signal (such as a greenlight, a flashing light, or not light at all on said display/indicatorlight 320) or an unhealthy battery with a second signal (such as a redor yellow light on said display/indicator light 320). Furthermore, saidinstrument drive system 102 can configure said display/indicator light320 to display characters, symbols and animations representative of thevarious alarms and modes of operation of said instrument drive system102.

Said instrument drive system 102 can further comprise an optical sensor322 and a controller 324. Said optical sensor 322 can be mounted withinsaid body 212 and possibly in said working channel 210 and saidcontroller 324 can monitor a signal from said optical sensor 322, asdiscussed below.

In one embodiment, said instrument drive system 102 can comprise asealed unit that can be co-processed with said endoscope assembly 104for sterilization.

In one embodiment, said instrument drive system 102 can comprise arotary position sensor 325. Said controller 324 can monitor a signalfrom said rotary position sensor 325 indicating rotational speed of saidtwo drive wheels 208.

In one embodiment, said instrument drive system 102 can comprise acharging and communication port 328. Wherein, said charging andcommunication port 328 can receive a power plug for charging/quickcharging said battery 312 from an external power supply/charging cradle,as is known in the art. In one embodiment, said instrument drive system102 may not include said battery 312 or said battery level monitor 318;wherein, said charging and communication port 328 can be more correctlyknown as a power input port in that case. In one embodiment, said drivewheels assembly 314 can comprise a sealed system which can berechargeable and/or able to be draw corded power from the tower, as isknown in the art.

In one embodiment, said charging and communication port 328 can connectto external appliance, such as a mobile phone, a charging cradle, acomputer, etc., allowing to data stored on said controller 324.

In one embodiment, said instrument drive system 102 can comprise aplurality of user inputs 330, such as said one or more direction buttons316, said control knob 329 and further such as a variable speed inputfor adjusting a catheter feed speed, a PID, an RPM selector, a gearselector for adjusting gearing and torque settings of said drive wheelsassembly 314.

In one embodiment, said instrument drive system 102 can be set up toinsert a 48 inch catheter in approximately 2 seconds; wherein said drivewheels assembly 314 might be set up to advance 20 revolutions (assuming0.75 inch diameter for the wheels, 0 slippage). Targeting 2 seconds forthe advance, a 600 RPM setting might be required for said motor drive306, in this hypothetical.

Said motor drive 306 can require adequate power, speed andforward/reverse torque to accomplish the task according to the needs athand. One design objective is a light weight, small relative unit sizethat will not upset ergonomics and balance of said endoscope assembly104.

FIG. 4 illustrates a perspective overview of said instrument 106 with aplurality of optical signatures 402.

In one embodiment, said plurality of optical signatures 402 can comprisea first optical signature 402 a at said distal end 118 of saidinstrument 106 and a second optical signature 402 b at a proximal end404 of said instrument 106. Said plurality of optical signatures 402 cancomprise a foil band or other optically unique signature at both ends ofsaid instrument 106. Alternatively, one or more can be affixed to saidinstrument 106 to determine a location along said instrument 106. In oneembodiment, said plurality of optical signatures 402 can be atpre-determined distances from one another.

In one embodiment, said plurality of optical signatures 402 can besensed by said optical sensor 322, and said controller 324. Saidcontroller 324 can be programmed to alter a speed, direction or othersetting of said drive wheels assembly 314 upon receiving a signalrelated to said plurality of optical signatures 402. For example whensaid instrument 106 has been substantially fed into said instrumentdrive system 102 such that said second optical signature 402 b at saidproximal end 404 has reached said two drive wheels 208 and said opticalsensor 322, it can be known that said distal end 118 is reaching the endof said flexible shaft 116 and should be slowed down so as to not damageor injure a patient due to a puncture. In one embodiment, saidcontroller 324 can cause said two drive wheels 208 to disengage ordecouple or otherwise engage said clutch-brake assembly 304 and/or saidbrake 308 in order to slow/stop movement of said instrument 106. In oneembodiment, said controller 324 can cause the system to reverse movementof said instrument 106 for safety. In one embodiment, said instrumentdrive system 102 on method of using said instrument drive system 102 canbe to allow the system to stop or slow movement and then allow manualmanipulation of said instrument 106 once said distal end 118 is near theobjective.

In one embodiment, said first optical signature 402 a and said secondoptical signature 402 b can further contain groups of optical bands ofvarying lengths and spacings that can encode information about saidinstrument 106. For example, such information can include the length ofsaid instrument 106 and the outer diameter of said shaft 206.

In one embodiment, said controller 324 can contain memory that can storedata associated with the use of said instrument drive system 102. Suchdata can include temperature, number of co-processing cycles, number ofcharging cycles of said battery 312, number of manipulations of saidinstrument 106, alarms and other data, as is known in the art.

FIG. 5 illustrates a perspective overview of said endoscope assembly104, said instrument drive system 102 and said instrument 106.

Various changes in the details of the illustrated operational methodsare possible without departing from the scope of the following claims.Some embodiments may combine the activities described herein as beingseparate steps. Similarly, one or more of the described steps may beomitted, depending upon the specific operational environment the methodis being implemented in. It is to be understood that the abovedescription is intended to be illustrative, and not restrictive. Forexample, the above-described embodiments may be used in combination witheach other. Many other embodiments will be apparent to those of skill inthe art upon reviewing the above description. The scope of the inventionshould, therefore, be determined with reference to the appended claims,along with the full scope of equivalents to which such claims areentitled. In the appended claims, the terms “including” and “in which”are used as the plain-English equivalents of the respective terms“comprising” and “wherein.”

1. instrument drive system for advancing, controlling, and removing aninstrument from an endoscope assembly, wherein: said instrument drivesystem comprises two drive wheels, a working channel, a body, and adrive gap; said two drive wheels comprise a first drive wheel, and asecond drive wheel; said instrument drive system is configured toreceive a portion of said instrument in said working channel, direct aportion of said instrument between said first drive wheel and saidsecond drive wheel, drive said instrument through an instrument channelof said endoscope assembly, and selectively slow or reverse turning ofsaid two drive wheels .
 2. The instrument drive system of claim 1,wherein: said instrument comprises cameras, catheters, snare, forceps,or similar instruments as used in the medical industry.
 3. Theinstrument drive system of claim 2, wherein: said instrument channelcomprises a channel for inserting said instrument into and through aflexible shaft.
 4. The instrument drive system of claim 3, wherein: saidworking channel is configured to receive and release a portion of saidinstrument.
 5. The instrument drive system of claim 4, wherein: saidinstrument drive system comprises a female locking coupling for mountingto a male locking coupling of said instrument channel.
 6. The instrumentdrive system of claim 5, wherein: said female locking coupling comprisesA port gasket that is configured to form a hermetic seal between saidfemale locking coupling and said male locking coupling of saidinstrument channel.
 7. The instrument drive system of claim 5, wherein:said female locking coupling comprises A shaft gasket that is configuredto form a hermetic seal between said female locking coupling and ashaft.
 8. The instrument drive system of claim 5, wherein: said femalelocking coupling comprises said port gasket that is configured to form ahermetic seal between said female locking coupling and said male lockingcoupling of said instrument channel; and said female locking couplingcomprises said shaft gasket that is configured to form a hermetic sealbetween said female locking coupling and said shaft.
 9. The instrumentdrive system of claim 1, wherein: said instrument drive system comprisesa drive wheels assembly; and said drive wheels assembly is removeable,rechargeable and adjustable.
 10. The instrument drive system of claim 9,wherein: said drive wheels assembly is located inside of said body andunder A cover; and said cover is clear and removeable to monitor thestatus of said shaft, said two drive wheels, said working channel, andsaid drive gap.
 11. The instrument drive system of claim 1, wherein:said drive wheels assembly further comprises An adjustable tensioner;said adjustable tensioner is configured to allow for fine tuning ofinstrumentation feed speed; said drive wheels assembly further comprisesand a clutch-brake assembly; said clutch-brake assembly is configured toallow for decoupling of a motor drive and/or a brake; said drive wheelsassembly further comprises a battery for operating said two drivewheels; said drive wheels assembly further comprises one or moredirection buttons; and said one or more direction buttons comprise aforward direction button and a reverse direction button, and are used toswitch the polarity of said motor drive for insertion/removal of saidinstrument.
 12. The instrument drive system of claim 1, wherein: saiddrive wheels assembly further comprises said adjustable tensioner; andsaid adjustable tensioner is configured to allow for fine tuning ofinstrumentation feed speed.
 13. The instrument drive system of claim 1,wherein: said drive wheels assembly further comprises and saidclutch-brake assembly; and said clutch-brake assembly is configured toallow for decoupling of said motor drive and/or said brake.
 14. Theinstrument drive system of claim 1, wherein: said instrument drivesystem comprises A control knob rotatably mounted to said body; saidcontrol knob is used to switch the polarity of said motor drive forinsertion/removal of said instrument; said control knob is configured torotate clockwise and counterclockwise with respect to a control axis toswitch the polarity; said control knob is configured to further controlthe desired speed of insertion/removal of said instrument; and the speedof insertion/removal is linearly or non-linearly related to the angle ofrotation of said control knob.
 15. The instrument drive system of claim1, wherein: said drive gap is adjustable to One or more widths toaccommodate different diameters for said instrument.
 16. The instrumentdrive system of claim 1, wherein: said instrument drive system isconfigured to further comprise a battery level monitor and adisplay/indicator light; said instrument drive system is configured tomonitor the status of said battery, and indicate a healthy battery witha first signal on said display/indicator light or an unhealthy batterywith a second signal said display/indicator light); and Said instrumentdrive system is configured to display characters, symbols and animationsrepresentative of the various alarms and modes of operation of saidinstrument drive system on said display/indicator light.
 17. Theinstrument drive system of claim 16, wherein: said instrument drivesystem comprises A rotary position sensor; and a controller isconfigured to monitor a signal from said rotary position sensorindicating rotational speed of said two drive wheels.
 18. The instrumentdrive system of claim 1, wherein: said instrument drive system furthercomprises A plurality of optical signatures; said plurality of opticalsignatures comprises a first optical signature at a distal end of saidinstrument and a second optical signature at a proximal end of saidinstrument; and said plurality of optical signatures comprises opticallyunique signature at both ends of said instrument.
 19. The instrumentdrive system of claim 1, wherein: said instrument drive system furthercomprises said plurality of optical signatures; said plurality ofoptical signatures are arranged along a length of said instrument atpre-determined distances from one another; Said controller is configuredto read said plurality of optical signatures and determine a currentlocation between said distal end and said proximal end; said pluralityof optical signatures are sensed by an optical sensor, and saidcontroller; said controller is programmed to alter a speed, direction orother setting of said drive wheels assembly upon receiving a signalrelated to said plurality of optical signatures; said controller isconfigured to cause said two drive wheels to disengage or decouple orotherwise engage said clutch-brake assembly and/or said brake in orderto slow/stop movement of said instrument; and said controller isconfigured to cause the system to reverse movement of said instrumentfor safety.
 20. The instrument drive system of claim 19, wherein: saidplurality of optical signatures are configured to further contain groupsof optical bands of varying lengths and spacings that is configured toencode information about said instrument such as the length of saidinstrument and the outer diameter of said shaft.
 21. The instrumentdrive system of claim 1, wherein: said instrument drive system furthercomprises said first optical signature at either said proximal end orsaid distal end of said instrument.
 22. The instrument drive system ofclaim 1, wherein: said controller is configured to contain memory thatis configured to store data associated with the use of said instrumentdrive system; and Such data is configured to include temperature, numberof co-processing cycles, number of charging cycles of said battery,number of manipulations of said instrument, alarms and other data, as isknown in the art.